CN104756174A - Collision avoidance assist device and collision avoidance assist method - Google Patents
Collision avoidance assist device and collision avoidance assist method Download PDFInfo
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- CN104756174A CN104756174A CN201280076685.7A CN201280076685A CN104756174A CN 104756174 A CN104756174 A CN 104756174A CN 201280076685 A CN201280076685 A CN 201280076685A CN 104756174 A CN104756174 A CN 104756174A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
This collision avoidance assist device assists in avoiding a collision between a vehicle and an object, and is provided with: an object detection unit that detects an object in the vicinity of a vehicle; a time calculation unit that calculates the estimated time to collision between the vehicle and the object on the basis of the detection result from the object detection unit; and an assist control unit that, when controlling the execution of a collision avoidance assist with respect to the vehicle and the object on the basis of the estimated time to collision, suppresses termination of a braking avoidance assist as the estimated time to collision shortens.
Description
Technical field
The present invention relates to the collision carrying out vehicle and object avoids the collision supported to avoid assisting system and collision to avoid support method.
Background technology
In the past, assisting system and collision is avoided to avoid support method as collision, described in Japanese Unexamined Patent Publication 2000-57496 publication, there will be a known during Braking mode according to until cannot see object detected status obtain with the degree of the possibility of object contact and judge whether proceed the apparatus and method of Braking mode based on this.
Prior art document
Patent documentation 1: Japanese Unexamined Patent Publication 2000-57496 publication
Summary of the invention
The problem that invention will solve
Avoid in assisting system in collision, the accuracy of detection of object easily declines because the deceleration caused by support is avoided in braking collision sometimes.In this case, the testing result become based on low precision judges the possibility with object collision, and then judge whether that needing brake off to collide avoids supporting based on this result of determination, may brake off collision avoid supporting under being factitious state for driver.
Therefore, the present invention wants to provide a kind of brake off collision under being factitious state for driver can be suppressed because of the decline of the accuracy of detection of object to avoid the collision supported to avoid assisting system and collision to avoid support method.
For the means of dealing with problems
Collision of the present invention avoids assisting system to be that the collision carrying out vehicle and object avoids the collision supported to avoid assisting system, possesses: object detection portion, and it detects the object of vehicle periphery; Time calculating section, its testing result based on object detection portion calculates the prediction of collision time of vehicle and object; And support control part, it is when controlling to collide the execution avoiding supporting based on the prediction of collision time, the prediction of collision time is shorter, then more suppress braking collision to avoid the releasing supported.
Thus, when performing collision and avoiding supporting, the prediction of collision time is shorter, then more suppress braking collision to avoid the releasing supported.At this, when braking collision and avoiding supporting, with the collision of object is more approaching and the prediction of collision time is shorter, then the accuracy of detection of object more easily declines.Thus, the prediction of collision time is shorter and the accuracy of detection of object more easily declines, braking collision is then more suppressed to avoid the releasing supported, therefore, it is possible to suppress because of the decline of the accuracy of detection of object brake off collision under being factitious state for driver to avoid supporting.
In addition, support control part more suppresses to brake the releasing of colliding and avoiding supporting after can have passed through the schedule time after braking collision avoids support to start compared with after a predetermined time.
In addition, support control part can braking collision avoid support duration exceeded threshold value after, more suppress to brake the releasing of colliding and avoiding supporting compared with before the duration exceedes threshold value.
In addition, support control part can by making easily to be judged to be by object to brake object that collision avoids supporting, suppress to avoid supporting the decline of the braking amount caused by braking collision and relax at least one party that braking collision avoids in the condition subsequent of supporting, suppress to brake the releasing that collision is avoided supporting.
In addition, support control part can, by making easily the collision possibility of vehicle and object to be judged to be height, suppress to brake the releasing that support is avoided in collision.
In addition, support the specialized range of the collision lateral attitude that control part can be used by the judgement expanding collision possibility, suppress braking collision to avoid the releasing supported.
In addition, support control part can forbid braking the releasing that support is avoided in collision.
Collision of the present invention avoids support method to be that the collision carrying out vehicle and object avoids the collision supported to avoid support method, comprises the steps: the object detecting vehicle periphery; Testing result based on object calculates the prediction of collision time of vehicle and object; And when controlling to collide the execution avoiding supporting based on the prediction of collision time, the prediction of collision time is shorter, then braking collision is more suppressed to avoid the releasing supported.
Thus, when performing collision and avoiding supporting, the prediction of collision time is shorter, then more suppress braking collision to avoid the releasing supported.At this, when braking collision and avoiding supporting, with the collision of object is more approaching and the prediction of collision time is shorter, then the accuracy of detection of object more easily declines.Thus, the prediction of collision time is shorter and the accuracy of detection of object more easily declines, braking collision is then more suppressed to avoid the releasing supported, therefore, it is possible to suppress because of the decline of the accuracy of detection of object brake off collision under being factitious state for driver to avoid supporting.
Invention effect
According to the present invention, can provide a kind of and brake off collision under being factitious state for driver can be suppressed because of the decline of the accuracy of detection of object to avoid the collision supported to avoid assisting system and collision to avoid support method.
Accompanying drawing explanation
Fig. 1 illustrates that the block diagram of assisting system is avoided in the collision of embodiments of the present invention.
Fig. 2 illustrates that the process flow diagram of support method is avoided in the collision of embodiments of the present invention.
Fig. 3 illustrates that the process flow diagram of the details of support method is avoided in the collision of embodiments of the present invention.
With time series, Fig. 4 illustrates that the figure of the position relationship of vehicle between Period Of Support and object is avoided in braking collision.
With time series contrast, Fig. 5 illustrates that the figure of the situation of supporting is avoided in the braking collision of Fig. 4 (b).
With time series contrast, Fig. 6 illustrates that the figure of the situation of supporting is avoided in the braking collision of Fig. 4 (c).
Embodiment
Below, with reference to accompanying drawing, assisting system and collision is avoided to avoid support method to be described in detail to the collision of embodiments of the present invention.In addition, in the description of the drawings, enclose same label to same key element, the repetitive description thereof will be omitted.Collision avoids assisting system to be that collision in order to carry out vehicle and object is avoided supporting and is equipped on the device of vehicle.
First, with reference to Fig. 1, the structure of assisting system is avoided to be described to the collision of embodiments of the present invention.Fig. 1 illustrates that the block diagram of assisting system is avoided in the collision of embodiments of the present invention.
As shown in Figure 1, collision avoids assisting system to possess vehicle speed sensor 11, radar sensor 12, support enforcement division 13 and ECU (Electronic Control Unit: electronic control unit) 20.
Vehicle speed sensor 11 detects the speed (speed of a motor vehicle) of vehicle.As vehicle speed sensor 11, such as, use the wheel speed sensor being arranged at wheel.The testing result of the speed of a motor vehicle is supplied to ECU20 by vehicle speed sensor 11.
Radar sensor 12 plays function as the object detection portion of the object detecting vehicle periphery.As radar sensor 12, such as, use millimetre-wave radar, laser radar etc.Radar sensor 12 is such as arranged at before vehicle body, sends electromagnetic wave and carrys out inspected object based on this electromagnetic reception result by reflections off objects.The testing result of the position of object and the relative velocity of object is supplied to ECU20 by radar sensor 12.In addition, radar sensor 12 also can be configured to by remote radar and closely the respective testing result of radar merge and carry out inspected object.
The collision that support enforcement division 13 performs vehicle and object based on prediction of collision time (TTC) described later is avoided supporting.Support enforcement division 13 to be controlled by ECU20 and perform at least one party in notification support and control support.
In notification is supported, such as, use display, loudspeaker, Vib. etc. to driver's notification for pointing out collision, for avoiding the information of operation guide etc. to collision.In control is supported, support is avoided in collision, steering collision avoids the control of support, collision safety support etc. to get involved such as to use brake actuator, steering actuator, seatbelt actuators etc. to carry out for braking.In steering collision is avoided supporting, such as, carry out that auto-pilot collision is avoided supporting, the ancillary support of the steering of driver, employ the sustaining support etc. of the steering of physical stimulation.Avoid between Period Of Support in braking collision, such as carry out Braking mode support, driver brake operating ancillary support, employ the sustaining support etc. of the brake operating of physical stimulation.
ECU20 possesses radar target generating unit 21 and supports control part 22.ECU20, based on CPU (Central Processing Unit: central processing unit), ROM (Read Only Memory: ROM (read-only memory)), RAM (Random Access Memory: random access memory) and being formed, realizes radar target generating unit 21 by CPU executive routine and supports the function of control part 22.In addition, the function of radar target generating unit 21 and support control part 22 also can be realized by the ECU20 of more than 2.
Radar target generating unit 21 generates radar target based on the testing result of radar sensor 12.Radar target has the information relevant to the relative velocity of the fore-and-aft distance of distance object, lateral separation and object.Fore-and-aft distance apart from object refers to the distance apart from object on the direct of travel of vehicle, and the lateral separation apart from object refers to the distance apart from object on the direction orthogonal with the direct of travel of vehicle.The relative velocity of object refers to the relative velocity of vehicle and object.
Supporting control part 22 uses radar target to avoid the execution supported to the collision controlling vehicle and object.Support control part 22 also calculates the time calculating section of the prediction of collision time of vehicle and object and plays function as the testing result based on radar sensor 12.Supporting control part 22 uses radar target to obtain and prediction of collision time of object and collide possibility, by the prediction of collision time with collide the corresponding control signal of possibility and be supplied to and support enforcement division 13.Support the execution that control part 22 controls according to prediction of collision time and collision possibility to report support and control at least one party in support, in control is supported, control steering collision avoids support and braking collision to avoid the execution of at least one party in support.In braking collision is avoided supporting, support control part 22 by being used for controlling braking beginning that collision avoids supporting, the control signal of end (releasings) and braking amount is supplied to support enforcement division 13.
The prediction of collision time as until the allowance time of collision of prediction, by the distance apart from object is obtained divided by relative velocity.Collision possibility such as based on object lateral attitude, collision lateral attitude, there is the index such as probability, self track probability and obtain.The lateral attitude of object refers to the current location of the object on the direction orthogonal with the direct of travel of vehicle, and collision lateral attitude refers to the lateral attitude of the object of predicted collision moment, and the motion track based on radar target is predicted.There is probability and refer to the in esse probability of the object corresponding with radar target, the generating state based on radar target is obtained.Self track probability refers to that the object corresponding with radar target is present in the probability on the traveling lane of vehicle, obtains based on the generating state of radar target and position.
At this, support control part 22 when controlling collision and avoiding the execution supported, the prediction of collision time is shorter, then more suppress braking collision to avoid the releasing supported.In addition, braking collision is avoided the releasing supported to mean and is braked the end of colliding and avoiding supporting.In addition, also can replace releasing and forbid that braking collision is avoided supporting.
In addition, support control part 22 more suppresses to brake the releasing of colliding and avoiding supporting after can have passed through the schedule time after braking collision avoids support to start compared with after a predetermined time.This is because: after braking collision avoids support to start after a predetermined time and after the prediction of collision time becomes lower than such as about 1 second, with after a predetermined time before compared with, easier because of the decline of accuracy of detection under being factitious state for driver brake off collision avoid support.
Then, with reference to Fig. 2 ~ Fig. 6, support method and collision is avoided to avoid the action of assisting system to be described to the collision of embodiments of the present invention.Fig. 2 illustrates that the process flow diagram of support method is avoided in the collision of embodiments of the present invention.
As shown in Figure 2, radar sensor 12 detects the object (S11) of vehicle periphery.Support control part 22 calculates vehicle and the object prediction of collision time (S12) based on the testing result of radar sensor 12.Support enforcement division 13 to avoid supporting (S13) based on the collision that the prediction of collision time performs vehicle and object.At this, in support control part 22, when performing collision and avoiding supporting, the prediction of collision time is shorter, then more suppress braking collision to avoid the releasing (S13a) supported.
Braking collision avoid the releasing supported can by making easily to be judged to be by object to brake object that collision avoids supporting, suppress by braking collision avoid supporting the braking amount caused decline, relax braking collision and avoid at least one party in the condition subsequent of supporting to suppress.Especially, braking collision avoid support releasing also can by making easily the collision possibility of vehicle and object to be judged to height to suppress.
Fig. 3 illustrates that the process flow diagram of the details of support method is avoided in the collision of embodiments of the present invention.Collision avoids assisting system repeatedly to perform the process shown in Fig. 3 by each treatment cycle.
Fig. 3 illustrates that the specialized range of the collision lateral attitude that the judgement by expanding collision possibility uses suppresses to brake the situation that the releasing supported is avoided in collision.In addition, braking collision is suppressed to avoid the method for the releasing supported to be not limited to such method.
At this, as previously mentioned, collision lateral attitude is the lateral attitude of the object of the collision moment of prediction, and the motion track based on radar target is predicted.The specialized range of collision lateral attitude is the threshold value that the judgement of colliding possibility uses, and when colliding lateral attitude and not being in specialized range, is judged to be that collision lateral attitude does not meet threshold value.And, when lateral attitude, each index of there is probability and self track probability meet respective threshold value together with the collision lateral attitude of object, be judged to be that collision possibility is high, be not judged to be that when a certain index does not meet threshold value collision possibility is high.
As shown in Figure 3, support control part 22 and judge whether the expansion condition of the specialized range of collision lateral attitude is set up (S21).The expansion condition of specialized range is set up when supporting keeping count device and exceeding threshold value.Support keeping count device to represent with same target for object persistence carries out braking the number of times that the treatment cycle of supporting is avoided in collision.Becoming braking collision avoids the target of the object of supporting to select as the high and target that is prediction of collision shortest time in simultaneous target of collision possibility.That is, support keeping count to exceed threshold value and mean with the collision of object is approaching and the prediction of collision time shortens.
Then, supporting control part 22 and coefficient is set as α (>1) (S22) when being judged to be that expansion condition is set up, when not being judged to be establishment, coefficient being set as 1 (S23).Support control part 22 by the coefficient of setting be set to be multiplied with the critical field of the width same degree of vehicle set specialized range (S24).At this, when the condition of expansion is set up, expand specialized range by being multiplied by factor alpha to critical field.
When after setting specialized range, support control part 22 and judge collision possibility whether high (S25) based on set specialized range.When being judged to be that collision possibility is high, supporting control part 22 and judging whether the prediction of collision time is less than threshold value (S26).Further, support control part 22 when be judged to be the prediction of collision time make when being less than threshold value braking collide avoid support continue.
On the other hand, when not being judged to be that in S25 collision possibility is high, supporting control part 22 and do not judge about the prediction of collision time in S26, terminate the process of this treatment cycle.Therefore, when not being judged to be that in S25 collision possibility is high, be not judged to be that braking is collided to be avoided supporting continuation, brake off collision is avoided supporting.
Therefore, support method is avoided according to above-mentioned collision, by judging whether support keeping count device has exceeded threshold value and judged whether the prediction of collision time shortens, when being judged to be that the prediction of collision time shortens, suppress to brake the releasing that support is avoided in collision by the specialized range expanding collision lateral attitude.
With time series, Fig. 4 illustrates that the figure of the position relationship of vehicle C between Period Of Support and object is avoided in braking collision.In the diagram, with the width B of object, detection position (position of the radar target) T of object and together illustrate according to the collision lateral attitude X that the track Tr detecting position T estimates the specialized range R colliding lateral attitude X.The specialized range R of collision lateral attitude X is set to critical field in the example shown in Fig. 4 (a) He (b), expands in the example shown in Fig. 4 (c) from critical field.
In the example shown in Fig. 4 (a), the detection position T of object does not change on the width B direction of object, and according to the track Tr detecting position T, collision lateral attitude X is predicted to be and is in specialized range R, so be suitably judged to be that collision possibility is high.
On the other hand, in the example shown in Fig. 4 (b), electromagnetic reflection spot changes because of the shape of object, thus the detection position T of object changes on width B direction.Further, according to detecting the track Tr of position T, collision lateral attitude X is predicted to be and is in outside specialized range R, although so in fact to collide possibility high, can judge that to be decided to be collision possibility low by accident.
On the other hand, in the example shown in Fig. 4 (c), although the detection position T of object changes on width B direction, the specialized range R of collision lateral attitude X expands.Further, according to the track Tr detecting position T, collision lateral attitude X is predicted to be and is in specialized range R, so be suitably judged to be that collision possibility is high.
With time series, Fig. 5 illustrates that the figure of the situation of supporting is avoided in the braking collision of Fig. 4 (b).With time series, Fig. 6 illustrates that the figure of the situation of supporting is avoided in the braking collision of Fig. 4 (c).Fig. 5 and Fig. 6 shows the index J (other indexs) of the collision possibility beyond vehicle velocity V, acceleration a, collision lateral attitude X and collision lateral attitude X.
Under the situation shown in Fig. 5, during t1 ~ t2, the vehicle roughly at the uniform velocity travelled is close to object.To relevant other the index J of collision possibility along with the prediction of collision time shortens and continuous close to threshold value Jt.Collision lateral attitude X is (lower than threshold X t) change in specialized range because the detection position of object changes in the direction of the width.In the t2 moment, other index J meet threshold value Jt (more than threshold value Jt), collision lateral attitude X meet threshold X t (being less than threshold X t), thus begin through braking collision avoid support to slow down.
During t2 ~ t4, continue through braking collision and avoid support to slow down, thus vehicle velocity V declines gradually.Other index J meet threshold value Jt because the prediction of collision time shortens.Collision lateral attitude changes in specialized range because the detection position of object X changes in the direction of the width.
In the t4 moment, collision lateral attitude X departs from from specialized range because of the accuracy of detection decline of object.So it is low that erroneous judgement is decided to be collision possibility, brake off collision is avoided supporting and deceleration terminates, thus the decline of vehicle velocity V terminates.
On the other hand, under the situation shown in Fig. 6, beginning through braking collision in the t2 moment and avoid after support slows down, slowing down the t3 moment after continue for a certain degree time, expanding the specialized range of collision lateral attitude X.Therefore, even if decline in the accuracy of detection of t4 moment object, collision lateral attitude X also can not depart from from specialized range.Thus, can not judge by accident be decided to be collision possibility low, can not brake off collision avoid support, by continue slow down, the decline of vehicle velocity V is maintained.
As mentioned above, collision according to the embodiment of the present invention avoids assisting system and collision to avoid support method, when braking collision and avoiding supporting, the prediction of collision time is shorter and the accuracy of detection of object more easily declines, braking collision is then more suppressed to avoid the releasing supported, therefore, it is possible to suppress because of the decline of the accuracy of detection of object under being factitious state for driver brake off collision avoid support.In addition, when the prediction of collision time is long, the accuracy of detection of object is not easy to decline, so also can not suppress to brake the releasing that support is avoided in collision.
In addition, support control part 22 more suppresses to brake the releasing of colliding and avoiding supporting after can have passed through the schedule time after braking collision avoids support to start compared with after a predetermined time.
In addition, support control part 22 can braking collision avoid support duration exceeded threshold value after, more suppress to brake the releasing of colliding and avoiding supporting compared with before the duration exceedes threshold value.
In addition, support control part 22 can by making easily to be judged to be by object to brake object that collision avoids supporting, suppress to avoid supporting the decline of the braking amount caused by braking collision and relax at least one party that braking collision avoids in the condition subsequent of supporting, suppress to brake the releasing that collision is avoided supporting.
In addition, support control part 22 can, by making easily the collision possibility of vehicle and object to be judged to be height, suppress to brake the releasing that support is avoided in collision.
In addition, support the specialized range of the collision lateral attitude that enforcement division 22 can be used by the judgement expanding collision possibility, suppress braking collision to avoid the releasing supported.
In addition, support control part 22 can forbid braking the releasing that support is avoided in collision.
In addition, aforementioned embodiments avoids assisting system and collision to avoid the embodiment of the best of support method to be illustrated to collision of the present invention, and collision of the present invention avoids assisting system and collision to avoid support method to be not limited to content described in present embodiment.Collision of the present invention avoids assisting system and collision to avoid support method in the scope of purport not departing from the invention described in each claim, to avoid assisting system and collision to avoid support method to be out of shape to the collision of present embodiment, or is applied to other apparatus and method.
Label declaration
11 ... vehicle speed sensor, 12 ... radar sensor, 13 ... support enforcement division, 20 ... ECU, 21 ... radar target generating unit, 22 ... support control part.
Claims (8)
1. an assisting system is avoided in collision, and the collision carrying out vehicle and object is avoided supporting, and possesses:
Object detection portion, it detects the described object of described vehicle periphery;
Time calculating section, its testing result based on described object detection portion calculates the prediction of collision time of described vehicle and described object; And
Support control part, it is when controlling described collision and avoiding the execution supported based on the described prediction of collision time, the described prediction of collision time is shorter, then more suppress braking collision to avoid the releasing supported.
2. assisting system is avoided in collision according to claim 1,
Described support control part, after have passed through the schedule time, more suppresses described and brakes the releasing of colliding and avoiding supporting after described braking collision avoids support to start compared with before the described schedule time.
3. assisting system is avoided in collision according to claim 2,
Described support control part, described braking collision avoid support duration exceeded threshold value after, more suppress described and brake the releasing of colliding and avoiding supporting compared with before the described duration exceed described threshold value.
4. assisting system is avoided in the collision according to any one of claims 1 to 3,
Described support control part, by making easily to be judged to be by described object object that described braking collision avoids supporting, suppress to avoid supporting the decline of the braking amount caused by described braking collision and relax at least one party that described braking collision avoids in the condition subsequent of supporting, suppress described braking collision to avoid the releasing supported.
5. assisting system is avoided in collision according to claim 4,
Described support control part, by making easily the collision possibility of described vehicle and described object to be judged to be height, suppresses described braking collision to avoid the releasing supported.
6. assisting system is avoided in collision according to claim 5,
Described support control part, the specialized range of the collision lateral attitude used by the judgement expanding described collision possibility, suppresses described braking collision to avoid the releasing supported.
7. assisting system is avoided in the collision according to any one of claim 1 ~ 6,
Described support control part forbids that the releasing supported is avoided in described braking collision.
8. a support method is avoided in collision, and the collision carrying out vehicle and object is avoided supporting, and comprises the steps:
Detect the described object of described vehicle periphery;
Testing result based on described object calculates the prediction of collision time of described vehicle and described object;
When controlling described collision based on the described prediction of collision time and avoiding the execution supported, the described prediction of collision time is shorter, then more suppress braking collision to avoid the releasing supported.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2012/078025 WO2014068669A1 (en) | 2012-10-30 | 2012-10-30 | Collision avoidance assist device and collision avoidance assist method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104756174A true CN104756174A (en) | 2015-07-01 |
| CN104756174B CN104756174B (en) | 2017-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280076685.7A Active CN104756174B (en) | 2012-10-30 | 2012-10-30 | Collision avoidance assist device and collision avoidance assist method |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US9643576B2 (en) |
| EP (1) | EP2916306B1 (en) |
| JP (1) | JP6020587B2 (en) |
| KR (1) | KR101708135B1 (en) |
| CN (1) | CN104756174B (en) |
| WO (1) | WO2014068669A1 (en) |
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| JP6409680B2 (en) * | 2015-05-29 | 2018-10-24 | 株式会社デンソー | Driving support device and driving support method |
| JP6361592B2 (en) * | 2015-06-26 | 2018-07-25 | 株式会社デンソー | Vehicle control device |
| JP6269606B2 (en) * | 2015-07-21 | 2018-01-31 | トヨタ自動車株式会社 | Vehicle control device |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP2916306A4 (en) | 2015-09-09 |
| EP2916306A1 (en) | 2015-09-09 |
| EP2916306B1 (en) | 2016-07-27 |
| CN104756174B (en) | 2017-04-26 |
| KR101708135B1 (en) | 2017-02-17 |
| WO2014068669A1 (en) | 2014-05-08 |
| US20150266456A1 (en) | 2015-09-24 |
| KR20150079760A (en) | 2015-07-08 |
| JP6020587B2 (en) | 2016-11-02 |
| JPWO2014068669A1 (en) | 2016-09-08 |
| US9643576B2 (en) | 2017-05-09 |
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